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   <div id="projectname">Os1
   &#160;<span id="projectnumber">1</span>
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   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
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<div class="title">Class List</div>  </div>
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<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceboost.html" target="_self">boost</a></td><td class="desc">OpencCV KeyPoint y Mat Copiado de <a href="https://github.com/MathewDenny/ORB_SLAM2">https://github.com/MathewDenny/ORB_SLAM2</a> <a class="el" href="_map_point_8h.html">MapPoint.h</a> </td></tr>
<tr id="row_1_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_1_" class="arrow" onclick="toggleFolder('1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespace_d_bo_w2.html" target="_self">DBoW2</a></td><td class="desc">File: <a class="el" href="_bow_vector_8cpp.html">BowVector.cpp</a> Date: March 2011 Author: Dorian Galvez-Lopez Description: bag of words vector License: see the LICENSE.txt file </td></tr>
<tr id="row_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_d_bo_w2_1_1_bow_vector.html" target="_self">BowVector</a></td><td class="desc">Vector of words to represent images </td></tr>
<tr id="row_1_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_d_bo_w2_1_1_f_class.html" target="_self">FClass</a></td><td class="desc">Generic class to encapsulate functions to manage descriptors </td></tr>
<tr id="row_1_2_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_d_bo_w2_1_1_feature_vector.html" target="_self">FeatureVector</a></td><td class="desc">Vector of nodes with indexes of local features </td></tr>
<tr id="row_1_3_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html" target="_self">FORB</a></td><td class="desc">Functions to manipulate ORB descriptors </td></tr>
<tr id="row_1_4_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_d_bo_w2_1_1_general_scoring.html" target="_self">GeneralScoring</a></td><td class="desc">Base class of scoring functions </td></tr>
<tr id="row_1_5_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_1_5_" class="arrow" onclick="toggleFolder('1_5_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_d_bo_w2_1_1_templated_vocabulary.html" target="_self">TemplatedVocabulary</a></td><td class="desc">Generic Vocabulary </td></tr>
<tr id="row_1_5_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_d_bo_w2_1_1_templated_vocabulary_1_1_node.html" target="_self">Node</a></td><td class="desc">Tree node </td></tr>
<tr id="row_2_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_2_" class="arrow" onclick="toggleFolder('2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespace_d_utils.html" target="_self">DUtils</a></td><td class="desc"></td></tr>
<tr id="row_2_0_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_2_0_" class="arrow" onclick="toggleFolder('2_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_d_utils_1_1_random.html" target="_self">Random</a></td><td class="desc">Functions to generate pseudo-random numbers </td></tr>
<tr id="row_2_0_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_d_utils_1_1_random_1_1_unrepeated_randomizer.html" target="_self">UnrepeatedRandomizer</a></td><td class="desc">Provides pseudo-random numbers with no repetitions </td></tr>
<tr id="row_2_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_d_utils_1_1_timestamp.html" target="_self">Timestamp</a></td><td class="desc"><a class="el" href="class_d_utils_1_1_timestamp.html" title="Timestamp. ">Timestamp</a> </td></tr>
<tr id="row_3_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_3_" class="arrow" onclick="toggleFolder('3_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceg2o.html" target="_self">g2o</a></td><td class="desc"></td></tr>
<tr id="row_3_0_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_0_" class="arrow" onclick="toggleFolder('3_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03.html" target="_self">anonymous_namespace{sparse_block_matrix.hpp}</a></td><td class="desc"></td></tr>
<tr id="row_3_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_cmp_pair_first.html" target="_self">CmpPairFirst</a></td><td class="desc">Helper class to sort pair based on first elem </td></tr>
<tr id="row_3_0_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_col_sort.html" target="_self">TripletColSort</a></td><td class="desc"></td></tr>
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<tr id="row_3_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_abstract_hyper_graph_element_creator.html" target="_self">AbstractHyperGraphElementCreator</a></td><td class="desc">Abstract interface for allocating HyperGraphElement </td></tr>
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<tr id="row_3_3_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_abstract_robust_kernel_creator.html" target="_self">AbstractRobustKernelCreator</a></td><td class="desc">Abstract interface for allocating a robust kernel </td></tr>
<tr id="row_3_4_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_base_binary_edge.html" target="_self">BaseBinaryEdge</a></td><td class="desc"></td></tr>
<tr id="row_3_5_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_base_edge.html" target="_self">BaseEdge</a></td><td class="desc"></td></tr>
<tr id="row_3_6_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_6_" class="arrow" onclick="toggleFolder('3_6_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_base_multi_edge.html" target="_self">BaseMultiEdge</a></td><td class="desc">Base class to represent an edge connecting an arbitrary number of nodes </td></tr>
<tr id="row_3_6_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_base_multi_edge_1_1_hessian_helper.html" target="_self">HessianHelper</a></td><td class="desc">Helper for mapping the Hessian memory of the upper triangular block </td></tr>
<tr id="row_3_7_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_base_property.html" target="_self">BaseProperty</a></td><td class="desc"></td></tr>
<tr id="row_3_8_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_base_unary_edge.html" target="_self">BaseUnaryEdge</a></td><td class="desc"></td></tr>
<tr id="row_3_9_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_base_vertex.html" target="_self">BaseVertex</a></td><td class="desc">Templatized <a class="el" href="classg2o_1_1_base_vertex.html" title="Templatized BaseVertex. ">BaseVertex</a> </td></tr>
<tr id="row_3_10_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_block_solver.html" target="_self">BlockSolver</a></td><td class="desc">Implementation of a solver operating on the blocks of the Hessian </td></tr>
<tr id="row_3_11_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_block_solver_base.html" target="_self">BlockSolverBase</a></td><td class="desc">Base for the block solvers with some basic function interfaces </td></tr>
<tr id="row_3_12_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_block_solver_traits.html" target="_self">BlockSolverTraits</a></td><td class="desc">Traits to summarize the properties of the fixed size optimization problem </td></tr>
<tr id="row_3_13_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html" target="_self">BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt;</a></td><td class="desc">Traits to summarize the properties of the dynamic size optimization problem </td></tr>
<tr id="row_3_14_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_14_" class="arrow" onclick="toggleFolder('3_14_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_cache.html" target="_self">Cache</a></td><td class="desc"></td></tr>
<tr id="row_3_14_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_cache_1_1_cache_key.html" target="_self">CacheKey</a></td><td class="desc"></td></tr>
<tr id="row_3_15_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_cache_container.html" target="_self">CacheContainer</a></td><td class="desc"></td></tr>
<tr id="row_3_16_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_col_sort.html" target="_self">ColSort</a></td><td class="desc"></td></tr>
<tr id="row_3_17_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_17_" class="arrow" onclick="toggleFolder('3_17_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_draw_action.html" target="_self">DrawAction</a></td><td class="desc">Draw actions </td></tr>
<tr id="row_3_17_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_draw_action_1_1_parameters.html" target="_self">Parameters</a></td><td class="desc"></td></tr>
<tr id="row_3_18_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_edge_inverse_sim3_project_x_y_z.html" target="_self">EdgeInverseSim3ProjectXYZ</a></td><td class="desc"></td></tr>
<tr id="row_3_19_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_edge_s_e3_project_x_y_z.html" target="_self">EdgeSE3ProjectXYZ</a></td><td class="desc"></td></tr>
<tr id="row_3_20_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html" target="_self">EdgeSE3ProjectXYZOnlyPose</a></td><td class="desc"></td></tr>
<tr id="row_3_21_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_edge_sim3.html" target="_self">EdgeSim3</a></td><td class="desc">7D edge between two Vertex7 </td></tr>
<tr id="row_3_22_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_edge_sim3_project_x_y_z.html" target="_self">EdgeSim3ProjectXYZ</a></td><td class="desc"></td></tr>
<tr id="row_3_23_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html" target="_self">EdgeStereoSE3ProjectXYZ</a></td><td class="desc"></td></tr>
<tr id="row_3_24_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html" target="_self">EdgeStereoSE3ProjectXYZOnlyPose</a></td><td class="desc"></td></tr>
<tr id="row_3_25_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_25_" class="arrow" onclick="toggleFolder('3_25_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_estimate_propagator.html" target="_self">EstimatePropagator</a></td><td class="desc">Propagation of an initial guess </td></tr>
<tr id="row_3_25_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html" target="_self">AdjacencyMapEntry</a></td><td class="desc">Data structure for loopuk during Dijkstra </td></tr>
<tr id="row_3_25_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_estimate_propagator_1_1_priority_queue.html" target="_self">PriorityQueue</a></td><td class="desc">Priority queue for <a class="el" href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html" title="data structure for loopuk during Dijkstra ">AdjacencyMapEntry</a> </td></tr>
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<tr id="row_3_25_3_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_estimate_propagator_1_1_vertex_i_d_hash_function.html" target="_self">VertexIDHashFunction</a></td><td class="desc">Hash function for a vertex </td></tr>
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<tr id="row_3_27_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_estimate_propagator_cost_odometry.html" target="_self">EstimatePropagatorCostOdometry</a></td><td class="desc">Cost for traversing only odometry edges </td></tr>
<tr id="row_3_28_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_28_" class="arrow" onclick="toggleFolder('3_28_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_factory.html" target="_self">Factory</a></td><td class="desc">Create vertices and edges based on TAGs in, for example, a file </td></tr>
<tr id="row_3_28_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_factory_1_1_creator_information.html" target="_self">CreatorInformation</a></td><td class="desc"></td></tr>
<tr id="row_3_29_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_force_linker.html" target="_self">ForceLinker</a></td><td class="desc"></td></tr>
<tr id="row_3_30_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html" target="_self">G2OBatchStatistics</a></td><td class="desc">Statistics about the optimization </td></tr>
<tr id="row_3_31_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_31_" class="arrow" onclick="toggleFolder('3_31_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_hyper_dijkstra.html" target="_self">HyperDijkstra</a></td><td class="desc"></td></tr>
<tr id="row_3_31_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html" target="_self">AdjacencyMapEntry</a></td><td class="desc"></td></tr>
<tr id="row_3_31_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html" target="_self">CostFunction</a></td><td class="desc"></td></tr>
<tr id="row_3_31_2_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_hyper_dijkstra_1_1_tree_action.html" target="_self">TreeAction</a></td><td class="desc"></td></tr>
<tr id="row_3_32_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_32_" class="arrow" onclick="toggleFolder('3_32_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_hyper_graph.html" target="_self">HyperGraph</a></td><td class="desc">Class that models a directed Hyper-Graph </td></tr>
<tr id="row_3_32_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html" target="_self">Edge</a></td><td class="desc">Abstract <a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html" title="Abstract Edge class. ">Edge</a> class </td></tr>
<tr id="row_3_32_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html" target="_self">HyperGraphElement</a></td><td class="desc">Base hyper graph element, specialized in vertex and edge </td></tr>
<tr id="row_3_32_2_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html" target="_self">Vertex</a></td><td class="desc">Abstract <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html" title="abstract Vertex, your types must derive from that one ">Vertex</a>, your types must derive from that one </td></tr>
<tr id="row_3_33_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_33_" class="arrow" onclick="toggleFolder('3_33_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_hyper_graph_action.html" target="_self">HyperGraphAction</a></td><td class="desc">Abstract action that operates on an entire graph </td></tr>
<tr id="row_3_33_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_hyper_graph_action_1_1_parameters.html" target="_self">Parameters</a></td><td class="desc"></td></tr>
<tr id="row_3_33_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_hyper_graph_action_1_1_parameters_iteration.html" target="_self">ParametersIteration</a></td><td class="desc"></td></tr>
<tr id="row_3_34_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_hyper_graph_action_library.html" target="_self">HyperGraphActionLibrary</a></td><td class="desc">Library of actions, indexed by the action name; </td></tr>
<tr id="row_3_35_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_35_" class="arrow" onclick="toggleFolder('3_35_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_hyper_graph_element_action.html" target="_self">HyperGraphElementAction</a></td><td class="desc">Abstract action that operates on a graph entity </td></tr>
<tr id="row_3_35_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_hyper_graph_element_action_1_1_parameters.html" target="_self">Parameters</a></td><td class="desc"></td></tr>
<tr id="row_3_36_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_hyper_graph_element_action_collection.html" target="_self">HyperGraphElementActionCollection</a></td><td class="desc">Collection of actions </td></tr>
<tr id="row_3_37_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_hyper_graph_element_creator.html" target="_self">HyperGraphElementCreator</a></td><td class="desc">Templatized creator class which creates graph elements </td></tr>
<tr id="row_3_38_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_jacobian_workspace.html" target="_self">JacobianWorkspace</a></td><td class="desc">Provide memory workspace for computing the Jacobians </td></tr>
<tr id="row_3_39_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_linear_solver.html" target="_self">LinearSolver</a></td><td class="desc">Basic solver for Ax = b </td></tr>
<tr id="row_3_40_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_linear_solver_c_c_s.html" target="_self">LinearSolverCCS</a></td><td class="desc"><a class="el" href="classg2o_1_1_solver.html" title="Generic interface for a sparse solver operating on a graph which solves one iteration of the lineariz...">Solver</a> with faster iterating structure for the linear matrix </td></tr>
<tr id="row_3_41_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_linear_solver_dense.html" target="_self">LinearSolverDense</a></td><td class="desc">Linear solver using dense cholesky decomposition </td></tr>
<tr id="row_3_42_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_42_" class="arrow" onclick="toggleFolder('3_42_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_linear_solver_eigen.html" target="_self">LinearSolverEigen</a></td><td class="desc">Linear solver which uses the sparse Cholesky solver from Eigen </td></tr>
<tr id="row_3_42_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html" target="_self">CholeskyDecomposition</a></td><td class="desc">Sub-classing Eigen's SimplicialLDLT to perform ordering with a given ordering </td></tr>
<tr id="row_3_43_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_marginal_covariance_cholesky.html" target="_self">MarginalCovarianceCholesky</a></td><td class="desc">Computing the marginal covariance given a cholesky factor (lower triangle of the factor) </td></tr>
<tr id="row_3_44_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_matrix_elem.html" target="_self">MatrixElem</a></td><td class="desc"></td></tr>
<tr id="row_3_45_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_matrix_structure.html" target="_self">MatrixStructure</a></td><td class="desc">Representing the structure of a matrix in column compressed structure (only the upper triangular part of the matrix) </td></tr>
<tr id="row_3_46_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_open_m_p_mutex.html" target="_self">OpenMPMutex</a></td><td class="desc"></td></tr>
<tr id="row_3_47_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_47_" class="arrow" onclick="toggleFolder('3_47_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_optimizable_graph.html" target="_self">OptimizableGraph</a></td><td class="desc">This is an abstract class that represents one optimization problem </td></tr>
<tr id="row_3_47_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html" target="_self">Data</a></td><td class="desc"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html" title="data packet for a vertex. ">Data</a> packet for a vertex </td></tr>
<tr id="row_3_47_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html" target="_self">Edge</a></td><td class="desc"></td></tr>
<tr id="row_3_47_2_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_optimizable_graph_1_1_edge_i_d_compare.html" target="_self">EdgeIDCompare</a></td><td class="desc">Order edges based on the internal ID, which is assigned to the edge in <a class="el" href="structg2o_1_1_optimizable_graph.html#a6831ed69fce3dba691f53302a2813070" title="adds a new edge. ">addEdge()</a> </td></tr>
<tr id="row_3_47_3_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html" target="_self">Vertex</a></td><td class="desc">A general case <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html" title="A general case Vertex for optimization. ">Vertex</a> for optimization </td></tr>
<tr id="row_3_47_4_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_optimizable_graph_1_1_vertex_i_d_compare.html" target="_self">VertexIDCompare</a></td><td class="desc">Order vertices based on their ID </td></tr>
<tr id="row_3_48_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_optimization_algorithm.html" target="_self">OptimizationAlgorithm</a></td><td class="desc">Generic interface for a non-linear solver operating on a graph </td></tr>
<tr id="row_3_49_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_optimization_algorithm_dogleg.html" target="_self">OptimizationAlgorithmDogleg</a></td><td class="desc">Implementation of Powell's Dogleg Algorithm </td></tr>
<tr id="row_3_50_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_optimization_algorithm_factory.html" target="_self">OptimizationAlgorithmFactory</a></td><td class="desc">Create solvers based on their short name </td></tr>
<tr id="row_3_51_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_optimization_algorithm_gauss_newton.html" target="_self">OptimizationAlgorithmGaussNewton</a></td><td class="desc">Implementation of the Gauss Newton Algorithm </td></tr>
<tr id="row_3_52_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_optimization_algorithm_levenberg.html" target="_self">OptimizationAlgorithmLevenberg</a></td><td class="desc">Implementation of the Levenberg Algorithm </td></tr>
<tr id="row_3_53_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_optimization_algorithm_property.html" target="_self">OptimizationAlgorithmProperty</a></td><td class="desc">Describe the properties of a solver </td></tr>
<tr id="row_3_54_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_optimization_algorithm_with_hessian.html" target="_self">OptimizationAlgorithmWithHessian</a></td><td class="desc">Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg </td></tr>
<tr id="row_3_55_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_parameter.html" target="_self">Parameter</a></td><td class="desc"></td></tr>
<tr id="row_3_56_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_parameter_container.html" target="_self">ParameterContainer</a></td><td class="desc">Map id to parameters </td></tr>
<tr id="row_3_57_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_property.html" target="_self">Property</a></td><td class="desc"></td></tr>
<tr id="row_3_58_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_property_map.html" target="_self">PropertyMap</a></td><td class="desc">Collection of properties mapping from name to the property itself </td></tr>
<tr id="row_3_59_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_register_action_proxy.html" target="_self">RegisterActionProxy</a></td><td class="desc"></td></tr>
<tr id="row_3_60_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_register_optimization_algorithm_proxy.html" target="_self">RegisterOptimizationAlgorithmProxy</a></td><td class="desc"></td></tr>
<tr id="row_3_61_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_register_robust_kernel_proxy.html" target="_self">RegisterRobustKernelProxy</a></td><td class="desc"></td></tr>
<tr id="row_3_62_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_register_type_proxy.html" target="_self">RegisterTypeProxy</a></td><td class="desc"></td></tr>
<tr id="row_3_63_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_robust_kernel.html" target="_self">RobustKernel</a></td><td class="desc">Base for all robust cost functions </td></tr>
<tr id="row_3_64_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_robust_kernel_cauchy.html" target="_self">RobustKernelCauchy</a></td><td class="desc">Cauchy cost function </td></tr>
<tr id="row_3_65_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_robust_kernel_creator.html" target="_self">RobustKernelCreator</a></td><td class="desc">Templatized creator class which creates graph elements </td></tr>
<tr id="row_3_66_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_robust_kernel_d_c_s.html" target="_self">RobustKernelDCS</a></td><td class="desc">Dynamic covariance scaling - DCS </td></tr>
<tr id="row_3_67_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_robust_kernel_factory.html" target="_self">RobustKernelFactory</a></td><td class="desc">Create robust kernels based on their human readable name </td></tr>
<tr id="row_3_68_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_robust_kernel_huber.html" target="_self">RobustKernelHuber</a></td><td class="desc">Huber Cost Function </td></tr>
<tr id="row_3_69_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_robust_kernel_pseudo_huber.html" target="_self">RobustKernelPseudoHuber</a></td><td class="desc">Pseudo Huber Cost Function </td></tr>
<tr id="row_3_70_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_robust_kernel_saturated.html" target="_self">RobustKernelSaturated</a></td><td class="desc">Saturated cost function </td></tr>
<tr id="row_3_71_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_robust_kernel_scale_delta.html" target="_self">RobustKernelScaleDelta</a></td><td class="desc">Scale a robust kernel to another delta (window size) </td></tr>
<tr id="row_3_72_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_robust_kernel_tukey.html" target="_self">RobustKernelTukey</a></td><td class="desc">Tukey Cost Function </td></tr>
<tr id="row_3_73_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_scoped_open_m_p_mutex.html" target="_self">ScopedOpenMPMutex</a></td><td class="desc">Lock a mutex within a scope </td></tr>
<tr id="row_3_74_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_scope_time.html" target="_self">ScopeTime</a></td><td class="desc">Class to measure the time spent in a scope </td></tr>
<tr id="row_3_75_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_s_e3_quat.html" target="_self">SE3Quat</a></td><td class="desc"></td></tr>
<tr id="row_3_76_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_sim3.html" target="_self">Sim3</a></td><td class="desc"></td></tr>
<tr id="row_3_77_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_solver.html" target="_self">Solver</a></td><td class="desc">Generic interface for a sparse solver operating on a graph which solves one iteration of the linearized objective function </td></tr>
<tr id="row_3_78_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_sparse_block_matrix.html" target="_self">SparseBlockMatrix</a></td><td class="desc">Sparse matrix which uses blocks </td></tr>
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<tr id="row_3_79_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_sparse_block_matrix_c_c_s_1_1_row_block.html" target="_self">RowBlock</a></td><td class="desc">A block within a column </td></tr>
<tr id="row_3_80_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_sparse_block_matrix_diagonal.html" target="_self">SparseBlockMatrixDiagonal</a></td><td class="desc">Sparse matrix which uses blocks on the diagonal </td></tr>
<tr id="row_3_81_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_sparse_block_matrix_hash_map.html" target="_self">SparseBlockMatrixHashMap</a></td><td class="desc">Sparse matrix which uses blocks based on hash structures </td></tr>
<tr id="row_3_82_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_sparse_optimizer.html" target="_self">SparseOptimizer</a></td><td class="desc"></td></tr>
<tr id="row_3_83_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_uniform_cost_function.html" target="_self">UniformCostFunction</a></td><td class="desc"></td></tr>
<tr id="row_3_84_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html" target="_self">VertexSBAPointXYZ</a></td><td class="desc">Point vertex, XYZ </td></tr>
<tr id="row_3_85_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_vertex_s_e3_expmap.html" target="_self">VertexSE3Expmap</a></td><td class="desc">SE3 Vertex parameterized internally with a transformation matrix and externally with its exponential map </td></tr>
<tr id="row_3_86_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html" target="_self">VertexSim3Expmap</a></td><td class="desc"><a class="el" href="structg2o_1_1_sim3.html">Sim3</a> Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion </td></tr>
<tr id="row_3_87_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_87_" class="arrow" onclick="toggleFolder('3_87_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classg2o_1_1_write_gnuplot_action.html" target="_self">WriteGnuplotAction</a></td><td class="desc">Brief write into gnuplot </td></tr>
<tr id="row_3_87_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structg2o_1_1_write_gnuplot_action_1_1_parameters.html" target="_self">Parameters</a></td><td class="desc"></td></tr>
<tr id="row_4_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_4_" class="arrow" onclick="toggleFolder('4_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespace_o_r_b___s_l_a_m2.html" target="_self">ORB_SLAM2</a></td><td class="desc">This file is part of ORB-SLAM2 </td></tr>
<tr id="row_4_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html" target="_self">Converter</a></td><td class="desc">Convertidor entre <a class="el" href="namespaceg2o.html">g2o</a> y opencv </td></tr>
<tr id="row_4_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html" target="_self">ExtractorNode</a></td><td class="desc">Pendiente de documentación </td></tr>
<tr id="row_4_2_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_frame.html" target="_self">Frame</a></td><td class="desc"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_frame.html" title="Frame representa un cuadro, una imagen, con los puntos singulares detectados. ">Frame</a> representa un cuadro, una imagen, con los puntos singulares detectados </td></tr>
<tr id="row_4_3_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html" target="_self">FrameDrawer</a></td><td class="desc">Clase de instancia única que se ocupa de mostrar la imagen de la cámara, con marcas verdes sobre los puntos reconocidos </td></tr>
<tr id="row_4_4_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_initializer.html" target="_self">Initializer</a></td><td class="desc">Inicializador de mapa en modo monocular </td></tr>
<tr id="row_4_5_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" target="_self">KeyFrame</a></td><td class="desc">Cuadro clave, keyframe </td></tr>
<tr id="row_4_6_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html" target="_self">KeyFrameDatabase</a></td><td class="desc">Lista invertida de KeyFrames, accesible por BoW </td></tr>
<tr id="row_4_7_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html" target="_self">LocalMapping</a></td><td class="desc"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html" title="LocalMapping tiene una única instancia ejecutando el método Run en su propio thread. ">LocalMapping</a> tiene una única instancia ejecutando el método Run en su propio thread </td></tr>
<tr id="row_4_8_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html" target="_self">LoopClosing</a></td><td class="desc">Cierre de bucles </td></tr>
<tr id="row_4_9_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_map.html" target="_self">Map</a></td><td class="desc">Mapa del mundo, de puntos y keyframes </td></tr>
<tr id="row_4_10_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html" target="_self">MapDrawer</a></td><td class="desc">Esta clase contiene los métodos para dibujar en pangolin </td></tr>
<tr id="row_4_11_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_map_point.html" target="_self">MapPoint</a></td><td class="desc">Cada instancia representa un mapa 3D en el sistema de referencia del mapa </td></tr>
<tr id="row_4_12_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_optimizer.html" target="_self">Optimizer</a></td><td class="desc"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_optimizer.html" title="Optimizer concentra todas las operaciones con g2o. ">Optimizer</a> concentra todas las operaciones con <a class="el" href="namespaceg2o.html">g2o</a> </td></tr>
<tr id="row_4_13_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html" target="_self">ORBextractor</a></td><td class="desc">Empaqueta todos los métodos de detección de puntos singulares y extracción de descriptores </td></tr>
<tr id="row_4_14_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html" target="_self">ORBmatcher</a></td><td class="desc"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html" title="ORBmatcher empaqueta todos los métodos de macheo de descriptores. ">ORBmatcher</a> empaqueta todos los métodos de macheo de descriptores </td></tr>
<tr id="row_4_15_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_pn_psolver.html" target="_self">PnPsolver</a></td><td class="desc">Solucionador Point n-Points EPnP </td></tr>
<tr id="row_4_16_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_serializer.html" target="_self">Serializer</a></td><td class="desc">Clase encargada de la serialización (guarda y carga) del mapa </td></tr>
<tr id="row_4_17_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_sim3_solver.html" target="_self">Sim3Solver</a></td><td class="desc">Solucionador de transformación sim3 para cerrar bucles </td></tr>
<tr id="row_4_18_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html" target="_self">System</a></td><td class="desc"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html" title="System se instancia una única vez en main, en la variable SLAM. ">System</a> se instancia una única vez en main, en la variable SLAM </td></tr>
<tr id="row_4_19_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_tracking.html" target="_self">Tracking</a></td><td class="desc">Objeto único que se ejecuta en su propio Trhead, y se inicia con Run() </td></tr>
<tr id="row_4_20_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_r_b___s_l_a_m2_1_1_viewer.html" target="_self">Viewer</a></td><td class="desc"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_viewer.html" title="Viewer representa la interfaz de usuario. ">Viewer</a> representa la interfaz de usuario </td></tr>
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